Antti Autere, Johannes Lehtinen. Robot motion planning by a hierarchical search on a modified discretized configuration space. In Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, September 7-11, 1997, Grenoble, France. pages 1208-1213, IEEE, 1997. [doi]
Abstract is missing.